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Motion for Manipulation Tasks

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Springer Handbook of Robotics

Abstract

This chapter serves as an introduction to Part D by giving an overview of motion generation and control strategies in the context of robotic manipulation tasks. Automatic control ranging from the abstract, high-level task specification down to fine-grained feedback at the task interface are considered. Some of the important issues include modeling of the interfaces between the robot and the environment at the different time scales of motion and incorporating sensing and feedback. Manipulation planning is introduced as an extension to the basic motion planning problem, which can be modeled as a hybrid system of continuous configuration spaces arising from the act of grasping and moving parts in the environment. The important example of assembly motion is discussed through the analysis of contact states and compliant motion control. Finally, methods aimed at integrating global planning with state feedback control are summarized.

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Abbreviations

CF:

climbing fibers

CF:

contact formation

DOF:

degree of freedom

GCR:

goal-contact relaxation

IK:

inverse kinematics

PC:

Purkinje cells

PC:

principal contact

RCC:

remote center of compliance

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Authors and Affiliations

  1. Robotics and Biology Laboratory, University of Massachusetts, 140 Governors Drive, 01003, Amherst, MA, USA

    Oliver Brock Prof

  2. The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave., 15213, Pittsburgh, PA, USA

    James Kuffner Prof

  3. Department of Computer Science, University of North Carolina, 28223, Charlotte, NC, USA

    Jing Xiao Prof

Authors
  1. Oliver Brock Prof
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  2. James Kuffner Prof
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  3. Jing Xiao Prof
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Correspondence to Oliver Brock Prof , James Kuffner Prof or Jing Xiao Prof .

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Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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Brock, O., Kuffner, J., Xiao, J. (2008). Motion for Manipulation Tasks. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_27

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_27

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